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Talk-16: Macrura Rides Again! - Accurate delivery of seafloor payloads via AUV
David Battle
Mission Systems, Australia
This talk discusses the general problem of seafloor payload delivery from an underway Autonomous Underwater Vehicle (AUV) and relates some of the experience Mission Systems has gained in developing its Mk I Pez Dispenser for Nautilus payloads. Designed to deliver multiple payloads accurately in the vicinity of seafloor targets, the Pez Dispenser has been fully integrated into the Macrura Bluefin 21 AUV and has undergone initial testing in Sydney Harbor and Jervis Bay. We discuss the challenges of fitting such a device into a standard Bluefin payload module and controlling it via MOOS-IvP software. By utilising the GobySoft iFrontseat application, we also demonstrate close integration with the Bluefin Standard Payload Interface (SPI) and proprietary Huxley control software to create powerful seabed intervention capabilities.
Categories:
- AUVs
- MCM